Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force controller to a team of legged manipulator systems, enabling collaborative loco-manipulation of rigid objects with a force-closed grasp. Our novel approach allows the robots to flexibly coordinate their movements, achieving efficient and stable object co-manipulation and transport, validated through extensive simulations and real-world experiments.
@article{arxiv.2510.00682,
title = {Shared Object Manipulation with a Team of Collaborative Quadrupeds},
author = {Shengzhi Wang and Niels Dehio and Xuanqi Zeng and Xian Yang and Lingwei Zhang and Yun-Hui Liu and K. W. Samuel Au},
journal= {arXiv preprint arXiv:2510.00682},
year = {2025}
}
Comments
8 pages, 9 figures, submitted to The 2026 American Control Conference